並列支持型テンドン制振器と制振制御系の設計 : 機械力学,計測,自動制御

概要

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Tendon control is studied for the vibration control of flexible structure, for example robot arm and large space structure. It is a remote vibration control method using actuator and wire. But, compressing force of flexible structure occurs by Tendon control and the transfer effect of control force is often small depending on the size of mechanism. In this paper, a parallel supporting damper with Tendon in proposed. A supporting element is parallelly assigned for the flexible structure. And, vibration is reduced like dynamic absorber by reciprocal action between the flexible structure and the supporting element connected to each other by wire. The proposed structure avoids compressing flexible structure and transfer effect of control force is improved. A vibration control system is designed based on H_∞ control theory. It is shown that property of proposed method is better than that of conventional method by numerical simulation.
一般社団法人日本機械学会の論文
2001-04-25